#ifndef _STATE_ESTIMATION__AHRS_H_
#define _STATE_ESTIMATION__AHRS_H_

#include "platform.h"

struct attitude {
	float q[4];
	float angle[3];
	float cbn[9];
	float rate[3];
	uint64_t timestamp;
};

void update_ahrs_imu(struct imu_raw_data *imu, struct attitude *att);
void update_ahrs_mag(struct mag_raw_data *mag, struct attitude *att);

#endif
